基于变质心调谐原理的管道内检测机器人减振方法  

Research on vibration reduction technique for in-line inspection robot based on variable-centroid TMD principle

作　　者：李睿 石新娜 刘浩天 富宽 马江涛 张行[2] LI Rui;SHI Xinna;LIU Haotian;FU Kuan;MA Jiangtao;ZHANG Hang(PipeChina Institute of Science and Technology;College of Mechanical and Transportation Engineering,China University of Petroleum(Beijing)/Center of Advanced Oil and Gas Equipment)

机构地区：[1]国家管网集团科学技术研究总院分公司,河北省廊坊市065000 [2]中国石油大学(北京)机械与储运工程学院高端油气装备智能设计与制造研究中心,北京市102249

出　　处：《油气储运》2024年第9期1012-1021,共10页Oil & Gas Storage and Transportation

基　　金：国家自然科学基金资助项目“考虑复杂激励与管土耦合的气液两相驱动多节串联管道机器人动力学特性研究”,52275141;国家自然科学基金资助项目“环焊缝连续激励下管道机器人流固耦合系统非线性动力学特性研究”51805542;国家重点研发计划“中俄管道重大风险防控与安全保障关键技术”,2022YFC3070100;国家管网集团科研项目“高钢级管道检测评价技术研究”,WZXGL202104;中国石油大学(北京)科研基金项目“复杂服役环境下管道内检测装备服役可靠性基础问题与性能提升方法研究”,2462023QNXZ012。

摘　　要：【目的】管道内检测机器人作为油气管道内检测的重要装备,管道弯头、变形、焊缝等多种管内激励引发的瞬时剧烈振动会影响其内置传感器的检测精度及装备结构可靠性,其中管道弯头引起的振动尤为剧烈。【方法】针对管道内检测机器人过弯头时的运动特点,结合调谐质量阻尼器与变质心减振控制原理,提出了一种阻尼-质量球缓冲吸能变质心减振思路,并设计了单自由度与两自由度两种管道内检测机器人变质心调谐质量阻尼器减振结构;使用ADAMS(AutomaticDynamicAnalysis ofMechanicalSystems)软件与Matlab软件联合模拟方法,研究了管道内检测机器人过弯头时的振动响应情况,并对含减振结构的管道内检测机器人过弯头时的冲击碰撞工况进行了双向流固耦合动力学分析。【结果】通过对比分析减振前、后管道内检测机器人过弯头时的加速度时程曲线与能量幅值,明确了两种自由度减振结构的减振效果:与无减振结构相比,含单自由度减振结构的管道内检测机器人在入弯初期存在加速度突变现象,最大可达3.47g(1g=9.8m/s^(2));含两自由度减振结构的管道内检测机器人过弯头过程中,轴向、水平摇摆方向加速度极值的下降幅度最高分别达48%、39%,振动能量下降极为明显。【结论】新设计的管道内检测机器人变质心调谐质量阻尼器减振结构具有较好的减振效果,可为管道内检测机器人的平稳作业提供理论参考。(图13,表1,参25)[Objective]In-line inspection robots are essential tools for conducting in-line inspections of oil and gas pipelines.Nevertheless,the transient and intense vibrations caused by different excitation factors within pipelines,like pipeline elbows,deformations,and welds,undermine the detection accuracy of their built-in sensors and structural reliability.This issue is particularly evident in cases of vibration stemming from pipeline elbows.[Methods]This study proposed a vibration reduction philosophy focusing on the movement characteristics of in-line inspection robots maneuvering through pipeline elbows.The approach integrates damping-mass sphere buffer energy absorption and a variable centroid,drawing from the control principles of tuned mass dampers(TMD)and variable centroid for vibration reduction.Two vibration reduction structures were then developed,each embodying the variable-centroid TMD principle with single-degree-of-freedom(SDOF)and two-degree-of-freedom(2DOF),respectively.Subsequently,simulations were conducted to analyze the vibration responses of in-line inspection robots navigating pipeline elbows,supported by Automatic Dynamic Analysis of Mechanical Systems(ADAMS)and Matlab.Furthermore,a bidirectional fluid-structure interaction dynamic analysis was performed to investigate the impact and collision conditions of robots equipped with the designed vibration reduction structures passing through pipeline elbows.[Results]By comparing and analyzing the time-history curves of accelerations and energy amplitudes of in-line inspection robots passing through pipeline elbows before and after the application of vibration reduction structures,the effects of vibration reduction were revealed for structures with different degrees of freedom.Compared to scenarios without vibration reduction structures,the robot within an SDOF vibration reduction structure experienced sudden acceleration changes when approaching elbows,with its maximum acceleration reaching 3.47 g(1 g=9.8 m/s).Meanwhile,the robot equipped with a 2DOF

关 键 词：油气管道 内检测机器人 变质心控制技术 调谐质量阻尼器 减振 

分 类 号：TE88[石油与天然气工程—油气储运工程]